基于模糊逻辑的未知环境下机器人导航

2017 IEEE 15th International Symposium on Applied Machine Intelligence and Informatics (SAMI) Pub Date : 1900-01-01 DOI:10.1109/SAMI.2017.7880317

N. Kumar, M. Takács, Z. Vámossy

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引用次数: 18

摘要

本文提出了一种用于未知环境下机器人导航的Simulink模型。机器人导航由纯追踪控制器和模糊逻辑控制器两种控制器控制。纯追踪控制器不考虑路径上的障碍物，计算从起点到目标位置的直接路径。针对机器人导航中的避障问题，采用模糊逻辑控制器。该模糊逻辑控制器从机器人的激光传感器获取输入，并将角速度的变化作为输出给机器人以避开障碍物。所提出的Simulink模型得到的导航路径，在路径中有障碍物和没有障碍物的情况下，如图所示。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Robot navigation in unknown environment using fuzzy logic

In this paper, a Simulink model for the robot navigation in unknown environment is presented. The robot navigation is handled by two controllers: pure pursuit and fuzzy logic controller. The pure pursuit controller computes a direct path from start to goal position without considering the obstacles in the path. For obstacle avoidance in robot navigation, the fuzzy logic controller is taken. This fuzzy logic controller takes the input from the laser sensor of the robot and gives the change in the angular velocity as output to the robot to avoid the obstacle. The navigation paths resulting from the proposed Simulink model, with and without obstacles in the paths, are shown in figures.

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2017 IEEE 15th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

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